Only one spi master use,

Support
1

i noticed that odrive only use one SPI (master), but if i wanna use two SPI-type encoder, is the speed enough?

2

or all type sensors use ABI interface when motor run normally, only read abs angle value via SPI when cold boot? (to avoid re-calib ) ?

3

The speed is enough for two SPI, but you need tri-state buffers usually (or differential signalling). You can, in theory, use abs cold boot → ABI run, but it has to be done manually.

4

thank thee very much!